Related papers: CIA-SSD: Confident IoU-Aware Single-Stage Object D…
The detection of 3D objects through a single perspective camera is a challenging issue. The anchor-free and keypoint-based models receive increasing attention recently due to their effectiveness and simplicity. However, most of these…
Point cloud semantic segmentation plays an essential role in autonomous driving, providing vital information about drivable surfaces and nearby objects that can aid higher level tasks such as path planning and collision avoidance. While…
Three-dimensional object detection from a single view is a challenging task which, if performed with good accuracy, is an important enabler of low-cost mobile robot perception. Previous approaches to this problem suffer either from an…
This paper addresses the problem of common object detection, which aims to detect objects of similar categories from a set of images. Although it shares some similarities with the standard object detection and co-segmentation, common object…
One-stage object detectors such as SSD or YOLO already have shown promising accuracy with small memory footprint and fast speed. However, it is widely recognized that one-stage detectors have difficulty in detecting small objects while they…
Most of the recent successful methods in accurate object detection and localization used some variants of R-CNN style two stage Convolutional Neural Networks (CNN) where plausible regions were proposed in the first stage then followed by a…
We present a simple yet effective prediction module for a one-stage detector. The main process is conducted in a coarse-to-fine manner. First, the module roughly adjusts the default boxes to well capture the extent of target objects in an…
3D object detection from a single image is an important task in Autonomous Driving (AD), where various approaches have been proposed. However, the task is intrinsically ambiguous and challenging as single image depth estimation is already…
SSD is one of the state-of-the-art object detection algorithms, and it combines high detection accuracy with real-time speed. However, it is widely recognized that SSD is less accurate in detecting small objects compared to large objects,…
We present a novel 3D object detection framework, named IPOD, based on raw point cloud. It seeds object proposal for each point, which is the basic element. This paradigm provides us with high recall and high fidelity of information,…
Recent Transformer-based 3D object detectors learn point cloud features either from point- or voxel-based representations. However, the former requires time-consuming sampling while the latter introduces quantization errors. In this paper,…
Recently, detection transformers (DETRs) have gradually taken a dominant position in 2D detection thanks to their elegant framework. However, DETR-based detectors for 3D point clouds are still difficult to achieve satisfactory performance.…
We present a new 3D point-based detector model, named Shift-SSD, for precise 3D object detection in autonomous driving. Traditional point-based 3D object detectors often employ architectures that rely on a progressive downsampling of…
LiDAR-based 3D object detection is an indispensable task in advanced autonomous driving systems. Though impressive detection results have been achieved by superior 3D detectors, they suffer from significant performance degeneration when…
Transformer-based methods have demonstrated superior performance for monocular 3D object detection recently, which aims at predicting 3D attributes from a single 2D image. Most existing transformer-based methods leverage both visual and…
Single stage deep learning algorithm for 2D object detection was made popular by Single Shot MultiBox Detector (SSD) and it was heavily adopted in several embedded applications. PointPillars is a state of the art 3D object detection…
3D object detection with multi-sensors is essential for an accurate and reliable perception system of autonomous driving and robotics. Existing 3D detectors significantly improve the accuracy by adopting a two-stage paradigm which merely…
The anchor-based detectors handle the problem of scale variation by building the feature pyramid and directly setting different scales of anchors on each cell in different layers. However, it is difficult for box-wise anchors to guide the…
Object detection under imperfect data receives great attention recently. Weakly supervised object detection (WSOD) suffers from severe localization issues due to the lack of instance-level annotation, while semi-supervised object detection…
3D visual grounding aims to locate the referred target object in 3D point cloud scenes according to a free-form language description. Previous methods mostly follow a two-stage paradigm, i.e., language-irrelevant detection and cross-modal…